Variable pitch control method and device for vertical axis wind turbine and medium

Abstract

The invention discloses a vertical axis wind turbine variable pitch control method and device and a medium, and relates to the technical field of vertical axis wind turbine variable pitch control. The blade rotation linear speed, the incoming flow wind speed and the relative angle of a current blade relative to a rotor are obtained in real time, and the blade tip speed ratio is solved; constructing a variable pitch control model according to the relative angle and the tip speed ratio; obtaining a current fan variable pitch mode, analyzing the variable pitch mode to obtain a current variable pitch control scene, calling a variable pitch control model, and calculating a pitch angle of each blade according to the current variable pitch control scene; and packaging the pitch angle of each blade into a variable pitch control instruction, and issuing the variable pitch control instruction to a variable pitch controller to control the synchronous action of each blade. And obtaining the variable pitch mode of the fan to analyze the current variable pitch scene, and further deforming the variable pitch control model to obtain corresponding variable pitch control formulas in different variable pitch modes, so as to adapt to variable pitch control of various scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of vertical axis wind turbine pitch control, and in particular to a vertical axis wind turbine pitch control method, device and medium. Background Art

[0002] Wind energy, an important renewable clean energy source, boasts abundant reserves. There are two main types of mechanical devices that convert wind energy into electrical energy: horizontal-axis and vertical-axis wind turbines, and vertical-axis wind turbines. Existing patents primarily address pitch control methods for horizontal-axis and vertical-axis wind turbines. However, due to the differences in the operating modes of these two types of vertical-axis wind turbines, these pitch control methods cannot be directly applied to vertical-axis wind turbines.

[0003] For vertical axis wind turbines, the existing method determines the optimal angle of attack based on the maximum tangential force principle, and then generates a theoretical pitch law curve. At the same time, in order to ensure the periodicity and ease of implementation of the pitch law, the theoretical pitch law curve is discretized into control points. This method is applicable to pitch strategies with different tip speed ratios, and uses Fourier function for quadratic optimization fitting. Then, numerical simulation is used to study the influence of the pitch law on the aerodynamic performance of the vertical axis wind turbine from the aspects of static starting performance and dynamic output performance.

[0004] However, existing methods only consider the relationship between the tip speed ratio and the power coefficient of the vertical axis wind turbine, but in fact the control strategy may be different under different pitch modes. Summary of the Invention

[0005] The purpose of the present invention is to provide a vertical axis wind turbine pitch control method, device and medium, obtain the wind turbine pitch mode to analyze the current pitch scenario, and then deform the pitch control model to obtain the corresponding pitch control formulas under different pitch modes, so as to adapt to pitch control in various scenarios.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In a first aspect, the present application provides a method for controlling pitch of a vertical-axis wind turbine. The vertical-axis wind turbine includes a plurality of blades. The method for controlling pitch of the blades includes the following steps:

[0008] S1. Obtain the blade rotation linear velocity, incoming wind speed, and the current relative angle of the blade to the rotor in real time to calculate the tip speed ratio;

[0009] S2. Construct a pitch control model based on the relative angle of the blades and the tip speed ratio;

[0010] S3. Obtain the current wind turbine pitch mode, parse the pitch mode, obtain the current pitch control scenario, call the pitch control model, and calculate the pitch angle of each blade according to the current pitch control scenario;

[0011] S4. Encapsulate the pitch angle of each blade into a pitch control instruction and send it to the pitch controller to control the synchronous movement of each blade.

[0012] In some specific implementation schemes, if the current pitch control scenario is automatic pitch control, and the current vertical axis wind turbine includes n blades, one of the blades is determined to be a calibration blade from each blade, and the calibration blade is used as the first blade to sort the n blades. The sorting method is: the blade in the leading edge direction of the first blade is used as the second blade, the blade in the leading edge direction of the second blade is used as the third blade, and so on. Then, the phase shift angle is calculated according to the number of blades contained in the current vertical axis wind turbine, and then the relative angle of each blade is calculated according to the relative angle of the calibration blade and the phase shift angle. The pitch angle of each blade is calculated according to the relative angle of each blade. The specific method is:

[0013]

[0014] θ n =θ1+Δθ*(n-1)

[0015]

[0016] Where λ represents the tip speed ratio, Δθ represents the phase shift angle, θ1 represents the relative angle of the calibration blade, and θ n represents the relative angle of the nth blade, β(θ n ) represents the pitch angle of the nth blade.

[0017] In some specific implementation schemes, if the current pitch control scenario is to perform pitch reversal on a vertical axis wind turbine, and the current vertical axis wind turbine includes n blades, one of the blades is determined to be a calibration blade from among the blades, the phase shift angle is calculated according to the number of blades included in the current vertical axis wind turbine, and then the relative angle of each blade is calculated according to the relative angle of the calibration blade and the phase shift angle, and the pitch angle of each blade is calculated according to the relative angle of each blade. The specific method is:

[0018]

[0019] θ n =θ1+Δθ*(n-1)

[0020]

[0021] Where λ represents the tip speed ratio, Δθ represents the phase shift angle, θ1 represents the relative angle of the calibration blade, and θ n represents the relative angle of the nth blade, β(θ n ) represents the pitch angle of the nth blade.

[0022] In some specific implementation schemes, if the current pitch control scenario is to perform pitch braking on a vertical axis wind turbine, and the current vertical axis wind turbine includes three blades, the phase shift angle of the blade is 120 degrees, one of the three blades is determined to be a calibration blade, and the calibration blade is used as the first blade, and then the blade in the leading edge direction of the first blade is used as the second blade, and the blade in the leading edge direction of the second blade is used as the third blade, and then the relative angle of each blade is calculated based on the relative angle of the calibration blade and the phase shift angle, and the pitch angle of each blade is calculated based on the relative angle of each blade. The specific method is:

[0023] The pitch angle β1 of the first blade is:

[0024]

[0025] The pitch angle β2 of the second blade is:

[0026]

[0027] The pitch angle β3 of the third blade is:

[0028]

[0029] Where θ1 represents the relative angle of the calibration blade, and λ represents the blade tip speed.

[0030] In some specific implementation plans, if the current variable pitch control scenario is to perform fixed pitch braking on the vertical axis wind turbine, the pitch angle of each blade is controlled to be adjusted to the same pitch angle β, and the pitch angle β of each blade is fixed, and the pitch angle β has a value range of -90° to -40° or +20° to +90°.

[0031] In some specific implementation schemes, if the current variable pitch control scenario is to perform fixed pitch power regulation on a vertical axis wind turbine, the pitch angle of each blade is controlled to be adjusted to the same pitch angle β, and the adjustment process is to control the pitch angle of the blade to increase or decrease linearly.

[0032] In some embodiments, the pitch angle of the blades gradually increases from 0 degrees to plus 20 degrees, or gradually decreases from 0 degrees to minus 40 degrees.

[0033] In some specific implementation schemes, the process of obtaining the wind turbine pitch mode is as follows:

[0034] Real-time monitoring of incoming wind speed. When the incoming wind speed exceeds the cut-out wind speed, the current wind turbine pitch control mode is switched to fixed pitch brake or variable pitch brake.

[0035] Monitor the output power of the vertical wind turbine in real time. When the output power exceeds the rated output power, switch the current wind turbine pitch control mode to fixed pitch power regulation.

[0036] Monitor the equipment operation status in real time. When it is detected that the equipment has entered the operation test or self-test, the current wind turbine pitch mode is switched to pitch reversal.

[0037] In a second aspect, the present application provides a vertical axis wind turbine pitch control device, comprising:

[0038] The data monitoring module is used to obtain the blade rotation linear velocity, incoming wind speed, and the current relative angle of the blade to the rotor in real time to solve the tip speed ratio;

[0039] A model building module is used to build a pitch control model based on the relative angle and tip speed ratio of the blades;

[0040] The pitch command generation module is used to obtain the current wind turbine pitch mode, parse the pitch mode, obtain the current pitch control scenario, call the pitch control model, and calculate the pitch angle of each blade according to the current pitch control scenario;

[0041] The instruction sending module is used to encapsulate the pitch angle of each blade into the pitch control instruction and send it to the pitch controller to control the synchronous movement of each blade.

[0042] In a third aspect, the present application provides a computer-readable storage medium, comprising:

[0043] one or more processors;

[0044] A storage unit is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors can implement a vertical axis wind turbine pitch control method as described in the first aspect.

[0045] The present invention has the beneficial effects:

[0046] This application analyzes the current pitch control scenario based on the acquired wind turbine pitch mode, and then transforms the pitch control model to obtain the corresponding pitch control formulas under different pitch control modes, thereby adapting to pitch control in various scenarios. In addition, the control instructions under each mode in this application are encapsulated based on the pitch curve expression determined by the pitch control model; it can be seen that the pitch control rules of this application are simple and do not occupy too many computing resources. Moreover, this application can be applied to multiple control modes to achieve multi-mode switching pitch control. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A flow chart of a vertical axis wind turbine pitch control method provided by an embodiment of the present invention;

[0048] Figure 2 A schematic diagram of an image showing a blade attack angle varying with a relative angle θ according to an embodiment of the present invention;

[0049] Figure 3 A schematic diagram of an image showing a change in pitch angle β with relative angle θ provided in an embodiment of the present invention;

[0050] Figure 4 A schematic diagram of a scene in which three blades of a vertical-axis wind turbine according to an embodiment of the present invention rotate;

[0051] Figure 5 A schematic diagram of an image showing how the pitch angle β changes with the relative angle θ when the tip speed ratio is 2 according to an embodiment of the present invention;

[0052] Figure 6 A schematic diagram of an image showing how each pitch angle β changes with the relative angle θ during pitch reversal according to an embodiment of the present invention;

[0053] Figure 7 This is a schematic diagram of an image showing how each pitch angle β changes with the relative angle θ during pitch braking provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0055] Unless otherwise specifically stated, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0056] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0057] Additionally, descriptions of well-known structures, functions, and configurations may be omitted for clarity and conciseness. Those skilled in the art will recognize that various changes and modifications can be made to the examples described herein without departing from the spirit and scope of the present disclosure.

[0058] Technologies, methods and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods and equipment should be considered part of the authorization specification.

[0059] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0060] Example 1

[0061] like Figure 1 As shown, this embodiment provides a method for controlling pitch of a vertical axis wind turbine, wherein the vertical axis wind turbine includes a plurality of blades, and the method for controlling pitch of the blades includes the following steps:

[0062] S1. Obtain the blade rotation linear velocity, incoming wind speed, and the current relative angle of the blade to the rotor in real time to calculate the tip speed ratio;

[0063] S2. Construct a pitch control model based on the relative angle of the blades and the tip speed ratio;

[0064] The pitch control model is:

[0065]

[0066] Where β represents the pitch angle, θ represents the relative angle of the blade relative to the rotor, and λ represents the tip speed ratio.

[0067] S3. Obtain the current wind turbine pitch mode, parse the pitch mode, obtain the current pitch control scenario, call the pitch control model, and calculate the pitch angle of each blade according to the current pitch control scenario;

[0068] The process of obtaining the wind turbine pitch mode is as follows:

[0069] Real-time monitoring of incoming wind speed. When the incoming wind speed exceeds the cut-out wind speed, the current wind turbine pitch control mode is switched to fixed pitch brake or variable pitch brake.

[0070] Monitor the output power of the vertical wind turbine in real time. When the output power exceeds the rated output power, switch the current wind turbine pitch control mode to fixed pitch power regulation.

[0071] Monitor the equipment operation status in real time. When it is detected that the equipment has entered the operation test or self-test, the current wind turbine pitch mode is switched to pitch reversal.

[0072] Specifically, for various pitch modes, the pitch strategies adopted are:

[0073] 1. Automatic pitch control mode

[0074] If the current pitch control scenario is automatic pitch control, and the current vertical axis wind turbine includes n blades, one of the blades is determined to be a calibration blade from each blade, and the calibration blade is used as the first blade to sort the n blades. The sorting method is: the blade in the leading edge direction of the first blade is used as the second blade, the blade in the leading edge direction of the second blade is used as the third blade, and so on. The calibration blade is the blade whose chord is parallel to the wind direction when the vertical axis wind turbine does not perform pitch control and rotates in the direction forward of the blade leading edge. The phase shift angle is calculated according to the number of blades in the current vertical axis wind turbine, and then the relative angle of each blade is calculated according to the relative angle of the calibration blade and the phase shift angle. The pitch angle of each blade is calculated according to the relative angle of each blade. The specific method is as follows:

[0075]

[0076] θ n =θ1+Δθ*(n-1)

[0077]

[0078] Here, when the calculated relative angle θn is less than zero, 360 degrees is added to θn to obtain the final relative angle of the nth blade;

[0079] When θn is greater than or equal to 360 degrees, 360 degrees is subtracted from θn to obtain the final relative angle of the nth blade.

[0080] Where λ represents the tip speed ratio, Δθ represents the phase shift angle, θ1 represents the relative angle of the calibration blade, and θ n represents the relative angle of the nth blade, β(θ n ) represents the pitch angle of the nth blade.

[0081] 2. Pitch reversal mode

[0082] If the current pitch control scenario is to reverse the pitch of a vertical axis wind turbine, and the current vertical axis wind turbine includes n blades, one of the blades is determined to be a calibration blade. The phase shift angle is calculated based on the number of blades in the current vertical axis wind turbine. The relative angle of each blade is then calculated based on the relative angle of the calibration blade and the phase shift angle. The pitch angle of each blade is calculated based on the relative angle of each blade. The specific method is as follows:

[0083]

[0084] θ n =θ1+Δθ*(n-1)

[0085]

[0086] Where λ represents the tip speed ratio, Δθ represents the phase shift angle, θ1 represents the relative angle of the calibration blade, and θ n represents the relative angle of the nth blade, β(θ n ) represents the pitch angle of the nth blade.

[0087] 3. Pitch Braking Mode

[0088] If the current pitch control scenario is to perform pitch braking on a vertical axis wind turbine, and the current vertical axis wind turbine includes three blades, the blade phase shift angle is 120 degrees, and the calibration blade is used as the first blade. Then, the blade in the leading edge direction of the first blade is used as the second blade, and the blade in the leading edge direction of the second blade is used as the third blade. Then, the relative angle of each blade is calculated based on the relative angle of the calibration blade and the phase shift angle. The pitch angle of each blade is calculated based on the relative angle of each blade. The specific method is as follows:

[0089] The pitch angle β1 of the first blade is:

[0090]

[0091] The pitch angle β2 of the second blade is:

[0092]

[0093] The pitch angle β3 of the third blade is:

[0094]

[0095] Where θ1 represents the relative angle of the calibration blade, and λ represents the blade tip speed.

[0096] 4. Fixed propeller braking mode

[0097] If the current variable pitch control scenario is to perform fixed-pitch braking on a vertical-axis wind turbine, the pitch angle of each blade is controlled to be adjusted to the same pitch angle β, and the pitch angle β of each blade is fixed. The pitch angle β has a value range of -90° to -40° or +20° to +90°.

[0098] 5. Fixed propeller power adjustment mode

[0099] If the current variable pitch control scenario is fixed-pitch power regulation for a vertical-axis wind turbine, the pitch angle of each blade is adjusted to the same pitch angle β. The adjustment process involves linearly increasing or decreasing the blade pitch angle. The blade pitch angle gradually increases from 0 degrees to +20 degrees, or gradually decreases from 0 degrees to -40 degrees.

[0100] S4. Encapsulate the pitch angle of each blade into a pitch control instruction and send it to the pitch controller to control the synchronous movement of each blade.

[0101] It is understandable that the general principle of pitch control technology is:

[0102] Since the main driving force for the rotor's rotation is the tangential force acting on the blades, and the magnitude of the tangential force is related to the lift-drag coefficient, the lift-drag coefficient varies with the blade's angle of attack. During the rotation of a vertical-axis wind turbine, the blade's angle of attack changes in real time and cannot be maintained within the optimal angle of attack range, resulting in unstable aerodynamic forces acting on the vertical-axis wind turbine and low wind energy utilization. Variable pitch technology indirectly changes the blade's angle of attack by changing the pitch angle, that is, rotating the blades to a certain angle, so that the blade's angle of attack at each azimuth angle remains within the optimal range, thereby improving the aerodynamic performance of the vertical-axis wind turbine.

[0103] The aerodynamic performance parameters are one of the important parameters in the pitch change process. The aerodynamic performance parameters include the tip speed ratio, where the tip speed ratio λ is defined as the ratio of the blade rotation linear velocity V to the incoming wind speed U∞, reflecting the speed of rotation of the vertical axis wind turbine under a certain wind speed, that is:

[0104] λ=V / U∞

[0105] When the tip speed ratio is selected as 2, the image of the blade angle of attack changing with the relative angle θ is as follows: Figure 2 As shown in the figure, at this tip speed ratio, β is set as the pitch angle, β is the angle between the blade chord line and the rotation plane, that is, the pitch angle; α is the blade angle of attack, that is, the angle between the relative wind speed W and the blade chord length; θ is the relative angle of the blade relative to the rotor, that is, the blade is located directly above the origin (rotation center) with a relative angle of 0°.

[0106] When the chord of the wind turbine blade is perpendicular to the connecting rod of the wind turbine blade, β is zero degrees. Based on this, the leading edge of the wind turbine blade rotates toward the center of the circle, and β is greater than zero. When the leading edge of the wind turbine blade rotates away from the center of the circle, β is less than zero. The value range of β is between -90 and 90 degrees. The formula of the variable pitch control model at this time is expressed as:

[0107]

[0108] At this time, the blade angle of attack calculation formula is:

[0109]

[0110] When the tip speed ratio is selected as 2, the graph of the pitch angle β changing with the relative angle θ is generally as follows: Figure 3 As shown in the figure, if a vertical axis wind turbine uses three blades, the difference between two adjacent blades in horizontal projection is 120 degrees, and the relative pitch angles of the two adjacent blades will differ by 120. Similarly, the difference between two blades is 180 degrees, and the difference between four blades is 90 degrees.

[0111] The pitch control strategy of the vertical axis wind turbine can not only improve the wind energy utilization coefficient of the vertical axis wind turbine, but also can be used to operate the vertical axis wind turbine for pitch reversal, output power adjustment and shutdown operation. This embodiment takes a three-blade vertical axis wind turbine as an example, and the three blades are numbered NO.1, NO.2, and NO.3 in sequence. However, it does not only include three blades, but also vertical axis wind turbines with other numbers of blades. The pitch control strategy of the present invention is used to operate the vertical axis wind turbine, which is within the scope of protection of the present invention. Figure 4 As shown, the leading edge of the fan blade faces the incoming wind and the fan rotates counterclockwise. When the tip speed ratio is 2, the image of each pitch angle β changing with the relative angle θ during automatic pitch change is as follows: Figure 5 As shown;

[0112] It can be seen that the pitch angle of the first blade NO.1

[0113] Pitch angle of the second blade NO.2

[0114] Pitch angle of the third blade NO.3

[0115] When the equipment is required to perform operation detection or self-test, the equipment operation status can be monitored to determine that the equipment is currently in operation detection. At this time, the wind turbine pitch mode is set to perform pitch reversal on the vertical axis wind turbine. At this time, the image of each pitch angle β changing with the relative angle θ is as follows: Figure 6 As shown;

[0116] It can be seen that the pitch angle of the first blade NO.1

[0117] Pitch angle of the second blade NO.2

[0118] Pitch angle of the third blade NO.3

[0119] When the incoming wind speed exceeds the cut-out wind speed, the pitch mode can be switched to fixed pitch brake or variable pitch brake. When the pitch mode is to perform pitch brake on the vertical axis wind turbine, the image of each pitch angle β changing with the relative angle θ is obtained as follows: Figure 7 As shown;

[0120] It can be seen that the pitch angle of the first blade NO.1

[0121] Pitch angle of the second blade NO.2

[0122] Pitch angle of the third blade NO.3

[0123] When the variable pitch mode is to perform fixed pitch braking on the vertical axis wind turbine, the pitch angle β of each blade can also be fixed, and the pitch angle β of each blade is the same. At this time, the selected pitch angle β angle range is between negative 90 degrees and negative 40 degrees, or between positive 20 degrees and positive 90 degrees.

[0124] When real-time monitoring shows that the output power of the vertical axis fan exceeds the rated output power of the fan, the output power of the vertical axis fan is adjusted, and the fan pitch mode is switched to fixed pitch power regulation. The specific process is to make the pitch angle β of each blade the same. In the process of the vertical axis fan output power changing from large to small, the pitch angle β can be gradually increased from 0 degrees to positive 20 degrees, or gradually decreased from 0 degrees to negative 40 degrees.

[0125] Example 2

[0126] This embodiment provides a vertical axis wind turbine pitch control device, comprising:

[0127] The data monitoring module is used to obtain the blade rotation linear velocity, incoming wind speed, and the current relative angle of the blade to the rotor in real time to solve the tip speed ratio;

[0128] A model building module is used to build a pitch control model based on the relative angle and tip speed ratio of the blades;

[0129] The pitch command generation module is used to obtain the current wind turbine pitch mode, parse the pitch mode, obtain the current pitch control scenario, call the pitch control model, and calculate the pitch angle of each blade according to the current pitch control scenario;

[0130] The instruction sending module is used to encapsulate the pitch angle of each blade into the pitch control instruction and send it to the pitch controller to control the synchronous movement of each blade.

[0131] Example 3

[0132] This embodiment provides a computer-readable storage medium, including:

[0133] one or more processors;

[0134] A storage unit is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors can implement a vertical axis wind turbine pitch control method as described in Example 1.

[0135] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Based on the technical essence of the present invention and within the spirit and principles of the present invention, any simple modification, equivalent replacement and improvement of the above embodiment shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A vertical axis wind turbine pitch control method, characterized in that: A vertical axis wind turbine includes a plurality of blades. A method for controlling the pitch of the blades includes the following steps: S1. Obtain the blade rotation linear velocity, incoming wind speed, and the current relative angle of the blade to the rotor in real time to calculate the tip speed ratio; S2. Construct a pitch control model based on the relative angle of the blades and the tip speed ratio; S3. Obtain the current wind turbine pitch mode, parse the pitch mode, obtain the current pitch control scenario, call the pitch control model, and calculate the pitch angle of each blade according to the current pitch control scenario; S4. Encapsulate the pitch angle of each blade into a pitch control instruction and send it to the pitch controller to control the synchronous movement of each blade.

2. A vertical axis wind turbine pitch control method according to claim 1, characterized in that: If the current pitch control scenario is automatic pitch control, and the current vertical axis wind turbine includes n blades, determine one of the blades as a calibration blade from each blade, and use the calibration blade as the first blade to sort the n blades. The sorting method is: the blade in the leading edge direction of the first blade is used as the second blade, the blade in the leading edge direction of the second blade is used as the third blade, and so on. Then, calculate the phase shift angle based on the number of blades in the current vertical axis wind turbine, and then calculate the relative angle of each blade based on the relative angle of the calibration blade and the phase shift angle. Then, calculate the pitch angle of each blade based on the relative angle of each blade. The specific method is as follows: i n =θ1+Δθ*(n-1) Where λ represents the tip speed ratio, Δθ represents the phase shift angle, θ1 represents the relative angle of the calibration blade, and θ n represents the relative angle of the nth blade, β(θ n ) represents the pitch angle of the nth blade.

3. A vertical axis wind turbine pitch control method according to claim 1, characterized in that: If the current pitch control scenario is to reverse the pitch of a vertical axis wind turbine, and the current vertical axis wind turbine includes n blades, one of the blades is determined to be a calibration blade. The phase shift angle is calculated based on the number of blades in the current vertical axis wind turbine. The relative angle of each blade is then calculated based on the relative angle of the calibration blade and the phase shift angle. The pitch angle of each blade is calculated based on the relative angle of each blade. The specific method is as follows: i n =θ1+Δθ*(n-1) Where λ represents the tip speed ratio, Δθ represents the phase shift angle, θ1 represents the relative angle of the calibration blade, and θ n represents the relative angle of the nth blade, β(θ n ) represents the pitch angle of the nth blade.

4. A vertical axis wind turbine pitch control method according to claim 1, characterized in that: If the current pitch control scenario is to perform pitch braking on a vertical axis wind turbine, and the current vertical axis wind turbine includes three blades, the phase shift angle of the blades is 120 degrees, and one of the three blades is determined to be a calibration blade, and the calibration blade is used as the first blade. Then, the blade in the leading edge direction of the first blade is used as the second blade, and the blade in the leading edge direction of the second blade is used as the third blade. Then, the relative angle of each blade is calculated based on the relative angle of the calibration blade and the phase shift angle. The pitch angle of each blade is calculated based on the relative angle of each blade. The specific method is as follows: The pitch angle β1 of the first blade is: The pitch angle β2 of the second blade is: The pitch angle β3 of the third blade is: Where θ1 represents the relative angle of the calibration blade, and λ represents the blade tip speed.

5. A vertical axis wind turbine pitch control method according to claim 1, characterized in that: If the current variable pitch control scenario is to perform fixed-pitch braking on a vertical-axis wind turbine, the pitch angle of each blade is controlled to be adjusted to the same pitch angle β, and the pitch angle β of each blade is fixed. The pitch angle β has a value range of -90° to -40° or +20° to +90°.

6. A vertical axis wind turbine pitch control method according to claim 1, characterized in that: If the current variable pitch control scenario is to perform fixed pitch power regulation on a vertical axis wind turbine, the pitch angle of each blade is controlled to be adjusted to the same pitch angle β, and the adjustment process is to control the pitch angle of the blade to increase or decrease linearly.

7. A vertical axis wind turbine pitch control method according to claim 6, characterized in that: The pitch angle of the blades gradually increases from 0 degrees to positive 20 degrees, or gradually decreases from 0 degrees to negative 40 degrees.

8. A vertical axis wind turbine pitch control method according to claim 1, characterized in that: The process of obtaining the wind turbine pitch mode is as follows: Real-time monitoring of incoming wind speed. When the incoming wind speed exceeds the cut-out wind speed, the current wind turbine pitch control mode is switched to fixed pitch brake or variable pitch brake. Monitor the output power of the vertical wind turbine in real time. When the output power exceeds the rated output power, switch the current wind turbine pitch control mode to fixed pitch power regulation. Monitor the equipment operation status in real time. When it is detected that the equipment has entered the operation test or self-test, the current wind turbine pitch mode is switched to pitch reversal.

9. A vertical axis wind turbine pitch control device, characterized in that: include: The data monitoring module is used to obtain the blade rotation linear velocity, incoming wind speed, and the current relative angle of the blade to the rotor in real time to solve the tip speed ratio; A model building module is used to build a pitch control model based on the relative angle and tip speed ratio of the blades; The pitch command generation module is used to obtain the current wind turbine pitch mode, parse the pitch mode, obtain the current pitch control scenario, call the pitch control model, and calculate the pitch angle of each blade according to the current pitch control scenario; The instruction sending module is used to encapsulate the pitch angle of each blade into the pitch control instruction and send it to the pitch controller to control the synchronous movement of each blade.

10. A computer-readable storage medium, characterized in that include: one or more processors; A storage unit for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to implement a vertical axis wind turbine pitch control method as described in any one of claims 1-8.

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